Robot for a work on a wall surface

Abstract

A robot for a work on a wall surface comprises a main module, which is constructed of, for example, a moving scaffold, hung by ropes and being capable of moving vertically and horizontally to a desired position on a wall surface, an arm module mounted on the main module and being movable with one or more degrees of freedom with respect to the wall surface, and a wrist module mounted on the foremost end portion of the arm module, having one or more degrees of freedom necessary for the work and including an automatic tool changer for detachably mounting a tool necessary for the work on the wrist module. In one aspect of the invention, fixing devices are provided on both sides of the main module and an exchangeable fixing tool is also detachably mounted on the automatic tool changer for stabilizing the main module during work and moving from one place to another.

What is claimed is: 
     
       1. A robot for performing work on a wall surface comprising: (a) a main module hung by ropes and comprising means capable of moving said main module vertically and horizontally to a desired position on the wall surface;   (b) an arm module mounted on the main module and being movable with one or more degrees of freedom with respect to the wall surface, said arm module comprising a slide base extending horizontally along substantially the entire width of the main module, a slide table slidably mountable on the slide base and a parallel link type arm mounted movably on the slide table; and   (c) a wrist module mounted on a foremost end portion of the arm module and comprising an assembly including a first rotary portion rotatable about a vertical axis of the wrist module, a second rotary portion rotatable about a horizontal axis of the wrist module, and a third rotary portion rotatable about a central axis of the wrist module, and an automatic tool changer for detachably mounting a tool thereon.   
     
     
       2. A robot as defined in claim 1 wherein said arm module is movable with 3 degrees of freedom. 
     
     
       3. A robot as defined in claim 1 wherein said means capable of moving comprises fixing devices mounted on the main module for fixedly holding the main module on the wall surface and an exchangeable fixing tool detachably mounted on the automatic tool changer of the wrist module for stabilizing the main module during movement thereof, said exchangeable fixing tool comprising a support portion attached to the automatic tool changer and a vacuum pad attached to the support portion for forming a vacuum to thereby cause the vacuum pad to stick to the wall surface. 
     
     
       4. A robot as defined in claim 3 wherein the fixing devices mounted on the main module each comprise an air cylinder secured to a side portion of the main module and being capable of stretching and withdrawing toward and away from the wall surface and a vacuum pad attached to the tip of the air cylinder for forming a vacuum to cause the vacuum pad to stick to the wall surface.